Upload policy weights, train config and readme

README.md

@@ -1,12 +1,12 @@
 ---
-datasets: aloha/push_T_top_to_bottom_mixture_10_100percent
+datasets: aloha/push_T_top_to_bottom_mixture_40_30percent
 library_name: lerobot
 license: apache-2.0
 model_name: act
 pipeline_tag: robotics
 tags:
-- act
 - lerobot
+- act
 - robotics
 ---
 
@@ -41,7 +41,7 @@ python -m lerobot.scripts.train \
   --wandb.enable=true
 ```
 
-*Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`.*
+_Writes checkpoints to `outputs/train/<desired_policy_repo_id>/checkpoints/`._
 
 ### Evaluate the policy/run inference
 
@@ -59,4 +59,4 @@ Prefix the dataset repo with **eval\_** and supply `--policy.path` pointing to a
 
 ## Model Details
 
-* **License:** apache-2.0
+- **License:** apache-2.0

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:849a1f3fe01bb182a41ad6a8319667f1e92c3e22f924b819f6aad9e61db8090e
+oid sha256:bd4913846ca3ea839ca62d4b47bc33f75500b02548257e42a028c8689d3721c8
 size 206659048

train_config.json

@@ -1,6 +1,6 @@
 {
     "dataset": {
-        "repo_id": "aloha/push_T_top_to_bottom_mixture_10_100percent",
+        "repo_id": "aloha/push_T_top_to_bottom_mixture_40_30percent",
         "root": null,
         "episodes": null,
         "image_transforms": {
@@ -120,7 +120,7 @@
         "optimizer_weight_decay": 0.0001,
         "optimizer_lr_backbone": 1e-05
     },
-    "output_dir": "mixture_models/10/100percent/policy",
+    "output_dir": "mixture_models/40/30percent/policy",
     "job_name": "act",
     "resume": false,
     "seed": 100000,
@@ -130,7 +130,7 @@
     "eval_freq": 20000,
     "log_freq": 200,
     "save_checkpoint": true,
-    "save_freq": 20000,
+    "save_freq": 10000,
     "use_policy_training_preset": true,
     "optimizer": {
         "type": "adamw",
@@ -155,7 +155,7 @@
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "k1mqjjr0",
+        "run_id": "iiwc3jx1",
         "mode": null
     }
 }